Steering adjustment assisting method, device and system for mule car

Abstract

The invention relates to a refitted car steering adjustment assisting method, device and system, and the method comprises the steps that when a chassis of a sample car is adjusted, an instant steering wheel turning angle parameter, a wheel turning angle parameter, a friction circle area after the wheels make contact with a steering adjustment device and a grounding stress point measurement parameter of a tire which meet an adjustment scheme of the adjustment requirement are obtained; based on the steering wheel rotation angle parameter and the wheel rotation angle parameter, the steering transmission ratio parameter of the sample vehicle under the adjustment scheme is obtained; a mapping curve of the friction circle area and time is established, and the slope parameter of the sample car of the round under the adjustment scheme is obtained based on the minimum curve slope of the mapping curve; based on the friction circle area after the wheels make contact with the steering adjustment device and the ground connection stress point measurement parameters of the tires, the vehicle pneumatic towing distance parameters, meeting the target working condition, of the sample vehicle under the adjustment scheme are screened out; and on the basis of the steering transmission ratio parameter, the slope parameter and the vehicle pneumatic towing distance parameter, generating a parameterized evaluation rule of the sample vehicle in the turn.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile steering, in particular to a mule vehicle steering adjustment auxiliary method, device and system. BACKGROUND

[0002] In the existing research and development stage vehicle, especially in the mule vehicle stage, it is necessary to confirm the consistency of the adjustment and replacement of the suspension and steering related system components of the vehicle, the change of the steering system related parameters and the evaluation of the evaluator in the process of chassis adjustment. At present, there is a lack of an efficient steering adjustment auxiliary method and a portable and efficient objective detection device, which makes the test cost high and the test period long. SUMMARY

[0003] The present application provides a mule vehicle steering adjustment auxiliary method, device and system, which can solve the problem of lack of an efficient steering adjustment method and a portable and efficient objective detection device in the prior art, which makes the test cost high and the test period long.

[0004] In a first aspect, the embodiments of the present application provide a mule vehicle steering adjustment auxiliary method, characterized in that it comprises: obtaining the instant steering wheel angle parameter, the wheel angle parameter, the friction circle area after the wheel and the steering adjustment device are in contact, and the tire ground force point measurement parameter matched with the adjustment scheme meeting the adjustment requirement of the sample vehicle in the chassis adjustment; obtaining the steering transmission ratio parameter of the sample vehicle under the adjustment scheme based on the steering wheel angle parameter and the wheel angle parameter; establishing a mapping curve of the friction circle area and time, and obtaining the slope parameter of the sample vehicle under the adjustment scheme based on the minimum curve slope of the mapping curve; obtaining the vehicle aerodynamic drag distance set based on the friction circle area after the wheel and the steering adjustment device are in contact and the tire ground force point measurement parameter, and screening out the vehicle aerodynamic drag distance parameter of the sample vehicle under the adjustment scheme meeting the target working condition; generating the parameterized evaluation rule of the sample vehicle under the adjustment scheme based on the steering transmission ratio parameter, the slope parameter and the vehicle aerodynamic drag distance parameter.

[0005] In combination with the first aspect, in an implementation mode, the mapping curve of the friction circle area and time is established, and the minimum curve slope parameter of the sample vehicle under the adjustment scheme is obtained based on the mapping curve, which specifically comprises: establishing the mapping curve of the friction circle area and time based on the mapping relationship between the friction circle area after the wheel and the steering adjustment device are in contact and the set time; obtaining the real-time change curve slope of the mapping curve; Select the minimum curve slope in the real-time changing curve slope, and take the minimum curve slope as the slope parameter of the sample vehicle under the adjustment scheme.

[0006] In combination with the first aspect, in an implementation, based on the friction circle area after the wheel contacts with the steering adjustment device and the ground contact force point measurement parameter of the tire, the vehicle aerodynamic drag distance set is obtained, and the vehicle aerodynamic drag distance parameter of the sample vehicle under the adjustment scheme that meets the target working condition is screened out, specifically including: In a set time window, based on the friction circle area after the wheel contacts with the steering adjustment device and the ground contact force point measurement parameter of the tire, the linear distance difference between the set center of the friction circle area and the maximum ground contact force point of the tire is calculated; Based on the linear distance difference, the vehicle aerodynamic drag distance set is obtained; By comparing the preset target working condition threshold value with the vehicle aerodynamic drag distance in the vehicle aerodynamic drag distance set, the vehicle aerodynamic drag distance parameter of the sample vehicle under the adjustment scheme that meets the target working condition is obtained.

[0007] In combination with the first aspect, in an implementation, in a set time window, before the linear distance difference between the set center of the friction circle area and the maximum ground contact force point of the tire is calculated based on the friction circle area after the wheel contacts with the steering adjustment device and the ground contact force point measurement parameter of the tire, the method further includes: The step of calculating the set center of the friction circle area based on the centroid method.

[0008] In combination with the first aspect, in an implementation, before the vehicle aerodynamic drag distance parameter of the sample vehicle under the adjustment scheme that meets the target working condition is screened out, the method further includes: Establish a multi-dimensional evaluation rule; The multi-dimensional evaluation rule includes a plurality of evaluation index parameters, and the plurality of evaluation index parameters include: a return torque parameter, a steering feedback linearity parameter, and a steering transient response parameter.

[0009] In combination with the first aspect, in an implementation, after the parameterized evaluation rule of the sample vehicle under the adjustment scheme is generated, the method further includes: Store each sample vehicle adjustment scheme and the corresponding parameterized evaluation rule in a structured data table form to an adjustment database, and the data table includes: an adjustment scheme number, a steering transmission ratio parameter, a slope parameter, a vehicle aerodynamic drag distance parameter, and an adjustment time stamp.

[0010] In a second aspect, the embodiments of the present application provide a mule car steering adjustment auxiliary device for a mule car steering adjustment auxiliary method, which comprises a ground fixed disc, a tire rotating disc and a steering wheel rotating disc, the tire rotating disc is rotationally connected to the ground fixed disc, a surface of the tire rotating disc is a wheel contact surface, the wheel contact surface is provided with a mechanical sensor and a surface sensor, and an angle sensor is arranged on a side wall of the tire rotating disc; the steering wheel rotating disc is used for being connected to a vehicle steering wheel, and a scale mark is arranged on the steering wheel rotating disc.

[0011] In combination with the second aspect, in an implementation manner, an annular groove is arranged in a middle portion of the steering wheel rotating disc. The scale mark is arranged around a surface of the steering wheel rotating disc, and a mark piece is movably connected inside the scale mark.

[0012] In combination with the second aspect, in an implementation manner, an angle difference data parameter scale is arranged on an inner wall of the ground fixed disc. A middle portion of the ground fixed disc is provided with a mounting and positioning circular table, and a gasket is arranged on the mounting and positioning circular table.

[0013] In a third aspect, the embodiments of the present application provide a mule car steering adjustment auxiliary system, which comprises a first module, a second module, a third module, a fourth module and a fifth module, the first module is used for: acquiring, when a sample car is in chassis adjustment, an instant steering wheel rotation angle parameter matched by an adjustment scheme meeting an adjustment requirement, a wheel rotation angle parameter, a friction circle area after a wheel is in contact with a steering adjustment device, and a tire ground force point measurement parameter; the second module is used for: acquiring, based on the steering wheel rotation angle parameter and the wheel rotation angle parameter, a steering transmission ratio parameter of the sample car under the adjustment scheme; the third module is used for: establishing a mapping curve of the friction circle area and time, and acquiring, based on a minimum curve slope of the mapping curve, a slope parameter of the sample car under the adjustment scheme; the fourth module is used for: acquiring, based on the friction circle area after the wheel is in contact with the steering adjustment device and the tire ground force point measurement parameter, a vehicle aerodynamic drag distance set, and screening out a vehicle aerodynamic drag distance parameter of the sample car meeting a target working condition under the adjustment scheme; and the fifth module is used for: generating, based on the steering transmission ratio parameter, the slope parameter and the vehicle aerodynamic drag distance parameter, a parameterized evaluation rule of the sample car under the adjustment scheme.

[0014] The technical scheme provided by the embodiments of the present application has the following beneficial effects: The application embodiment provides a mule car steering adjustment auxiliary method, device and system. The steering adjustment device is portable, and can detect and evaluate the adjustment scheme of the test car at any time and quickly. The steering wheel rotation angle parameter, wheel rotation angle parameter, friction circle area after the wheel and the steering adjustment device are in contact and the tire ground contact force point are collected to generate a parameterized evaluation rule of the test car under the adjustment scheme. The adjustment engineer can adapt the qualitative requirement under the adjustment scheme to the combination of the quantitative value, balance the selection under different adjustment schemes, ensure that each test car adjustment scheme has a key quantitative record on the test site, assist in the accurate completion of the steering adjustment, and reduce the cost and period. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 The application provides a mule car steering adjustment auxiliary method flowchart. Fig. 2 The application provides a mule car steering adjustment auxiliary method flowchart. Fig. 3 The application provides a mule car steering adjustment device. Fig. 4 The application provides a mule car steering adjustment device.

[0016] In the figure: 1, the tire rotation disc; 2, the ground fixed disc; 3, the steering wheel rotation disc. DETAILED DESCRIPTION

[0017] In order to enable personnel in the art to better understand the application scheme, the technical solutions in the application embodiments will be clearly and completely described below in conjunction with the drawings in the application embodiments. Obviously, the described embodiments are only part of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the application.

[0018] Referring to Figs. 1 to 4 The application provides a mule car steering adjustment auxiliary method, device and system, which can solve the problem of lack of an efficient steering adjustment method and a portable and efficient objective detection device in the prior art, and high test cost and long test period.

[0019] In order to make the purpose, technical scheme and advantages of the application clearer, the application embodiments will be further described in detail below in conjunction with the drawings.

[0020] In the first aspect, the application embodiment provides a mule car steering adjustment auxiliary method, which comprises: 101: Obtain the instantaneous steering wheel angle parameter, the wheel angle parameter, the friction circle area after the wheel and the steering calibration device contact, and the tire ground force point measurement parameter matched with the calibration scheme that meets the calibration requirements when the sample vehicle is calibrated on the chassis; 102: Obtain the steering transmission ratio parameter of the sample vehicle under the calibration scheme based on the steering wheel angle parameter and the wheel angle parameter; 103: Establish a mapping curve of the friction circle area and time, and obtain the slope parameter of the sample vehicle under the calibration scheme based on the minimum curve slope of the mapping curve; 104: Obtain the vehicle aerodynamic drag distance set based on the friction circle area after the wheel and the steering calibration device contact and the tire ground force point measurement parameter, and select the vehicle aerodynamic drag distance parameter that meets the target working condition of the sample vehicle under the calibration scheme; 105: Generate the parameterized evaluation rule of the sample vehicle under the calibration scheme based on the steering transmission ratio parameter, the slope parameter and the vehicle aerodynamic drag distance parameter.

[0021] In this application, the steering calibration device can detect and evaluate the calibration scheme of the test vehicle at any time and quickly by collecting the steering wheel angle parameter, the wheel angle parameter, the friction circle area after the wheel and the steering calibration device contact, and the tire ground force point, generating the parameterized evaluation rule of the sample vehicle under the calibration scheme, so that the calibration engineer can adapt the combination of qualitative requirements and quantitative values under the calibration scheme, meet the balance selection under different calibration schemes, ensure that each sample vehicle calibration scheme has key quantitative records on the test site, assist in supporting the accurate completion of steering calibration, and reduce cost and cycle. At the same time, by obtaining the parameterized evaluation rule, it can be judged whether the parameter change of the steering system and the evaluation of the evaluator are consistent with the expectation.

[0022] The auxiliary method is realized based on the steering calibration device, and the steering calibration device has the advantages of being portable with the vehicle, small in size and light in weight.

[0023] Specifically, the steering calibration device comprises a ground fixed disc 2, a tire rotating disc 1 and a steering wheel rotating disc 3, the tire rotating disc 1 is rotationally connected to the ground fixed disc 2, a tire contact surface is arranged on the surface of the tire rotating disc 1, a mechanical sensor and a surface sensor are arranged on the tire contact surface, an angle sensor is arranged on the side wall of the tire rotating disc 1, and a pointer with a reference reading is arranged on the tire rotating disc 1; the steering wheel rotating disc 3 is used for being connected with the vehicle steering wheel, and a scale mark is arranged on the steering wheel rotating disc 3.

[0024] The ground fixed disc 2 can be placed in front of the sample vehicle wheel before use, the sample vehicle can be pushed to the ground fixed disc 2, and the ground fixed disc 2 is assembled and matched with the tire rotating disc 1 to complete the data detection at the ground. The inner wall of the ground fixed disc 2 is provided with an angle difference data parameter scale, a pointer can be directly read according to the scale when the tire rotating disc 1 rotates, or an angle sensor can be directly used to limit transmission to application software for viewing, a middle part of the ground fixed disc 2 is provided with a mounting positioning circular table, and the mounting positioning circular table is provided with a gasket with a certain friction coefficient on the upper surface, which can be replaced and adjusted for use at any time.

[0025] The tire rotating disc 1 is installed at the ground base, matched with the end surface of the ground fixed disc 2, combined with the ground fixed disc 2 to form a ground measurement combination device, and the tire rotating disc 1 is placed in the ground fixed disc 2. In order to facilitate data parameter reading, the pointer with a reference reading on the tire rotating disc 1 can be placed in front of or outside the wheel, so that the rotation of the pointer can read the corresponding angle change during the rotation. The mechanical sensor is arranged in a certain radius area above the component, which can monitor the contact area and the force after the wheel contacts with the disc surface. The wheel and the disc surface of the tire rotating disc 1 form an irregular shaped area after contact, which is affected by the positioning parameters, and the maximum stress point is not regularly distributed, which needs to be monitored. The sweeping area obtained by rotating under the contact area is a variable circle, which is a friction circle, and is an important index parameter of output parameter diagnosis. The distance between the maximum stress point and the center point of the contact area is the aerodynamic drag distance, which is also an important output parameter. The surface sensor is arranged on the surface of the tire rotating disc 1 to expand measurement and output. The angle sensor scale is arranged on the edge of the tire rotating disc 1, and the angle difference can be calculated, compared and read data through the scale number during the rotation or directly read through the angle sensor.

[0026] The rotating disc 3 at the steering wheel is a rotating angle parameter reading device installed at the steering wheel of the vehicle. The rotating disc 3 at the steering wheel is provided with an annular groove in the middle. The annular groove is concave, so that the rotating disc 3 at the steering wheel can be fixed on the steering wheel in a clamping or fixing manner as required. When fixed, the center of the disc is coaxial with the rotating shaft of the steering wheel or directly coincides with the geometric center of the steering wheel. A certain error is allowed in installation, which does not affect the parameter reading. The rotating disc 3 at the steering wheel is provided with 360-degree scale marks on the inner and outer sides. The scale marks are arranged around the surface of the rotating disc 3 at the steering wheel, and the scale marks are movably connected with marking members. Specifically, there is a circular opening groove in the middle of the scale marks. The groove is filled with liquid, and a liquid bubble or other reverse color liquid bead is reserved. When the steering wheel is rotated, the liquid bead can always be above. The difference between the scale degree corresponding to the liquid bead and the scale value at the beginning of measurement is the rotating angle of the steering wheel. According to the method of reading the outside first and then reading the inside after one circle, the limit steering angle or the steering angle under the bandwidth of a certain area can be used in the matching angle interval.

[0027] The main function of the device is to detect the matching data of performance tuning in the vehicle development stage in real time. The device is portable and can be placed on the ground directly. When the device is used, the vehicle can drive on it. The ground fixing disc 2 and the tire rotating disc 1 are coaxially arranged. If the coaxial double wheels are used, only one rotating disc 3 at the steering wheel can be matched, and the other parts are expanded by two. When the device is used, the rotating disc 3 at the steering wheel is installed on the steering wheel. The tire rotating disc 1 is installed on the ground after the ground fixing disc 2 is placed on the ground. The tire rotating disc 1 is buckled to the ground fixing disc 2. Then the sample vehicle directly drives on the disc surface to ensure that the wheel center is directly above the testing device.

[0028] On the basis of the above embodiment, in this embodiment, after the device is installed, the real-time steering wheel angle parameter, the wheel angle parameter, the friction circle area after the wheel and the steering tuning device are contacted, and the ground force measurement parameter of the tire matched with the tuning scheme meeting the tuning requirements during the tuning of the sample vehicle can be obtained.

[0029] By obtaining the steering wheel angle s and the ground wheel angle w, the steering transmission ratio parameter can be obtained, wherein the steering transmission ratio parameter = s / w. The ratio reflects the amplification ability of the steering system (the direct influence degree of the steering wheel rotation on the wheel steering). The transmission ratio affects the steering sensitivity, the steering feedback force and the steering stability. The smaller the transmission ratio is, the more sensitive the vehicle is to steering, the greater the steering force feedback is, but the driving stability is reduced.

[0030] On the basis of the above-mentioned embodiments, in this embodiment, a mapping curve of the friction circle area and time is established, and based on the minimum curve slope of the mapping curve, the slope parameter of the sample vehicle under the adjustment scheme is obtained, specifically comprising steps 1031 to 1033: Step 1031: based on the mapping relationship between the friction circle area after the wheel contacts with the steering adjustment device and the existing mapping relationship at the set time, a mapping curve of the friction circle area and time is established; Step 1032: the real-time change curve slope of the mapping curve is obtained; Step 1033: the minimum curve slope is selected in the real-time change curve slope, and the minimum curve slope is taken as the slope parameter of the sample vehicle under the adjustment scheme.

[0031] Specifically, a pressure sensor array is installed on the surface of the tire rotating disc, covering the tire contact area. When the tire contacts with the rotating disc, the sensor real-time collects pressure distribution data, and the chassis domain controller calculates the contact area S1. Wherein, the contact area changes with the rotation angle to form a swept area, and the connection line between the geometric center Oi and the maximum force point Fmax constitutes the friction circle radius, reflecting the tire grip force distribution characteristics.

[0032] According to the size and slow change of the vehicle rotation angle process, and according to the steering adjustment demand, the mapping function relationship f(T1) of S1 and time T1 is set, and the dynamic change of the contact area with time is quantified. The mapping relationship can show the function relationship curve S-T in the system through the chassis domain controller, and the real-time slope ρi is calculated by numerical differentiation of the S-T curve. The minimum value of ρ is selected as the slope parameter under the adjustment scheme, so as to ensure the stable dynamic response of the steering system.

[0033] At the same time, the portable steering adjustment device matched in the adjustment process can accurately confirm the adjustment result, reduce the adjustment time and reduce the cost, and the process control principle function is as follows:

[0034]

[0035] On the basis of the above-mentioned embodiments, in this embodiment, based on the friction circle area after the wheel contacts with the steering adjustment device and the tire ground force point measurement parameter, the vehicle aerodynamic drag distance set is obtained, and the vehicle aerodynamic drag distance parameter of the sample vehicle under the adjustment scheme that meets the target working condition is screened out, specifically comprising steps 1041 to 1043: Step 1041: based on the friction circle area after the wheel contacts with the steering adjustment device and the tire ground force point measurement parameter, the straight line distance difference between the set time window, the center of the friction circle area and the maximum force point of the tire ground force point is calculated; Step 1042: Obtain the set of vehicle aerodynamic trailing distances based on the straight-line distance difference; Step 1043: Compare the preset target operating condition threshold with the vehicle aerodynamic trailing distance in the vehicle aerodynamic trailing distance set to obtain the vehicle aerodynamic trailing distance parameters of the sample vehicle in this round that meet the target operating condition under the tuning scheme.

[0036] Specifically, in step 103, pressure distribution data of the tire-ground contact area is collected by a pressure sensor array, and the contact area S1 is calculated by integration. Before calculating the difference in the straight-line distance between the set center of the friction circle area and the maximum stress point of the tire's ground contact point based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's ground contact point, the step of calculating the set center of the friction circle area based on the centroid method is also included: defining graphic set rules through the chassis domain controller, and calculating the center O of the actual friction circle area set in real time. i The pressure peak point Fmax is identified from the same sensor array, which usually corresponds to the stress concentration area on the tire contact surface.

[0037] O i Mapping Fmax to a unified coordinate system eliminates installation errors and allows for the acquisition of straight-line distance differences. Among them, Z i O i The straight-line distance between Fmax and the target value. Then, match the tuning scheme and determine... ,in and It is the preset aerodynamic drag distance boundary value. Z is a set of values ​​representing the variation of the entire aerodynamic drag distance from its maximum to its minimum. Z is the deviation calculated in real time and used for dynamic matching. The input variables directly affect and The choice.

[0038] Furthermore, before selecting the vehicle aerodynamic trailing distance parameters that meet the target operating conditions under this tuning scheme, the method further includes: establishing multi-dimensional evaluation rules. These multi-dimensional evaluation rules include multiple evaluation index parameters, including: self-centering torque parameters, steering feedback linearity parameters, and steering transient response parameters.

[0039] Specifically, before selecting aerodynamic drag distance parameters that meet the target operating conditions, it is necessary to establish multi-dimensional evaluation rules and conduct a comprehensive analysis of the aerodynamic drag distance set by combining three key indicators: return torque, steering feedback linearity, and steering transient response.

[0040] The self-centering torque parameter reflects a vehicle's ability to return to a straight-line state after steering, and is typically caused by the asymmetry between tire lateral force and steering angle. (If aerodynamic trail...) If the torque is too high, the self-centering torque may decrease due to uneven tire stress distribution, leading to reduced steering stability; conversely, if the torque is too low, near At that time, the restoring torque may be more stable.

[0041] The steering feedback linearity parameter is the linear relationship between the steering wheel feedback force and the steering angle, reflecting the consistency of the driver's perception of steering force. (Aerodynamic trail) Adjustments may affect the distribution of tire lateral force, thereby altering the linearity of steering wheel feedback force.

[0042] Steering transient response parameters reflect the vehicle's response speed and stability when steering input changes, and aerodynamic trail. Adjustments may affect the vehicle's aerodynamic characteristics (such as the pressure distribution below), thereby altering the transient response.

[0043] Based on the above embodiments, in this embodiment, after generating the parametric evaluation rules for the prototype vehicle in this round under the tuning scheme, the method further includes: Each round of prototype vehicle calibration scheme and corresponding parametric evaluation rules are stored in the calibration database in the form of a structured data table. The data table includes: calibration scheme number, steering ratio parameter, slope parameter, vehicle aerodynamic trailing distance parameter, and calibration timestamp.

[0044] Specifically, the calibration schemes for each round of prototype vehicle calibration and the corresponding parametric evaluation rules are stored in the calibration database in the form of a structured table. The table fields include calibration scheme number, steering ratio parameter, slope parameter, vehicle aerodynamic trailing distance parameter, and calibration timestamp, which enables efficient management and traceability of calibration schemes and supports filtering data by time, performance index or status to optimize subsequent calibration strategy iterations.

[0045] In summary, the portable steering adjustment device fills the gap in portable testing equipment. It is portable with the vehicle, small in size and light in weight; it effectively improves the efficiency of steering adjustment and greatly reduces the adjustment time; by designing steering adjustment assistance methods, it compensates for the lack of subjective evaluation, improves accuracy, and makes up for the subjective evaluation needs; it greatly reduces testing costs and demand costs. Secondly, embodiments of this application provide a mule cart steering adjustment assist device for a mule cart steering adjustment assist method, comprising: The system comprises a ground-mounted fixed plate 2, a tire-mounted rotating plate 1, and a steering wheel-mounted rotating plate 3. The tire-mounted rotating plate 1 is rotatably connected to the ground-mounted fixed plate 2. The surface of the tire-mounted rotating plate 1 is the wheel contact surface, and a force sensor and a surface sensor are installed on the wheel contact surface. An angle sensor is installed on the side wall of the tire-mounted rotating plate 1, and a pointer with a reference reading is provided on the tire-mounted rotating plate 1. The steering wheel-mounted rotating plate 3 is used to connect to the vehicle steering wheel, and a scale mark is provided on the steering wheel-mounted rotating plate 3.

[0046] Before use, the ground-mounted plate 2 can be placed in front of the prototype vehicle's wheels. The prototype vehicle can be pushed onto the ground-mounted plate 2. The ground-mounted plate 2 and the tire-mounted rotating plate 1 are assembled and cooperate to complete the ground-mounted data detection. The inner wall of the ground-mounted plate 2 is provided with an angle difference data parameter scale. When the tire-mounted rotating plate 1 rotates, the pointer can be directly read from this scale, or the angle sensor can be used to transmit the data to the application software for viewing. The ground-mounted plate 2 has a mounting and positioning platform in the middle. The mounting and positioning platform is provided with a pad with a certain friction coefficient on its upper surface, which can be replaced and adjusted for use at any time.

[0047] The rotating disc 1 at the tire is mounted on the ground base and, when combined with the end face of the fixed disc 2 at the ground, forms a ground measurement assembly. The rotating disc 1 is simply placed on the fixed disc 2. To facilitate data reading, the pointer on the rotating disc 1 with the reference reading can be placed in front of or outside the wheel, allowing the angle change to be read during rotation. A force sensor is positioned within a certain radius above this component to monitor the contact area and force between the wheel and the disc surface. The contact area between the wheel and the rotating disc 1 forms an irregular shape, and due to the influence of positioning parameters, the maximum force point is not regularly distributed, requiring monitoring. The sweeping area obtained by rotation under the contact area is a variable circle, the friction circle, which is an important indicator for output parameter diagnosis. The distance between the maximum force point and the center point of the contact area is the pneumatic drag distance, also an important output parameter. A surface sensor on the surface of the rotating disc 1 measures and outputs this distance. An angle sensor scale is set on the edge of the rotating disk 1 at the tire. During the rotation, the angle difference can be calculated and compared by the number of scales at this point to read the data, or it can be read directly by the angle measuring device.

[0048] The steering wheel rotary disc 3 is a turning angle parameter reading device installed on the vehicle steering wheel. The steering wheel rotary disc 3 has an annular groove in its center, which is concave to allow it to be clamped or fixed to the steering wheel as needed. During fixing, the center of the disc needs to be coaxial with the steering wheel's rotation axis or directly aligned with the steering wheel's geometric center. A certain degree of installation error is permissible and does not affect parameter reading. The steering wheel rotary disc 3 has 360-degree scale markings on its inner and outer sides. These markings surround the surface of the steering wheel rotary disc 3, and marker elements are movably connected inside the markings. Specifically, there is a circular opening groove in the center of the markings, filled with liquid, with pre-reserved liquid air bubbles or other contrasting liquid droplets. This ensures the liquid droplets remain on top when the steering wheel is turned. The difference between the scale reading corresponding to the liquid droplet and the initial scale reading is the steering wheel's rotation angle. The method of reading the outer side first after one full rotation, and then reading the inner side after repeating the marking for one full rotation, allows for the use of matching angle ranges for extreme steering angles or steering angles within a certain bandwidth.

[0049] The main function of this device is to provide real-time, on-site testing of matching data related to performance tuning during the vehicle development phase. It is portable and can be carried around the test site. To use it, simply unfold it and place it on the ground; the vehicle can then drive onto it. The ground-mounted plate 2 and the tire-mounted rotating plate 1 are coaxially arranged, allowing for single-wheel, single-axle use. If using a coaxial dual-wheel configuration, only one steering wheel-mounted rotating plate 3 needs to be fitted, with two of each of the other components deployed. During use, the steering wheel-mounted rotating plate 3 is fixed to the steering wheel, and the ground-mounted plate 2 is placed on the ground before mounting the tire-mounted rotating plate 1. The tire-mounted rotating plate 1 is then snapped onto the ground-mounted plate 2. The prototype vehicle then drives directly onto the plate surface, ensuring the wheel center is directly above the testing device.

[0050] Thirdly, this application provides a mule cart steering adjustment assistance system, comprising: a first module, a second module, a third module, a fourth module, and a fifth module. The first module is used to: acquire, during chassis adjustment of the prototype vehicle, the instantaneous steering wheel angle parameters, wheel angle parameters, friction circle area after the wheel contacts the steering adjustment device, and tire contact force point measurement parameters matching the adjustment scheme that meets the adjustment requirements; the second module is used to: acquire, based on the steering wheel angle parameters and wheel angle parameters, the steering transmission ratio parameters of the prototype vehicle under the adjustment scheme; the third module is used to... The first module is used to: establish a mapping curve between the friction circle area and time, and obtain the slope parameter of the prototype vehicle under the calibration scheme based on the minimum slope of the mapping curve; the second module is used to: obtain the vehicle aerodynamic trailing distance set based on the friction circle area after the wheel contacts the steering calibration device and the measured parameters of the tire's ground contact force point, and filter out the vehicle aerodynamic trailing distance parameters that meet the target working conditions under the calibration scheme; the third module is used to: generate parameterized evaluation rules for the prototype vehicle under the calibration scheme based on the steering ratio parameters, slope parameters and vehicle aerodynamic trailing distance parameters.

[0051] In this application, a portable steering calibration device allows for the rapid and timely evaluation of the calibration scheme for the test vehicle. By collecting steering wheel angle parameters, wheel angle parameters, the friction circle area after the wheel contacts the steering calibration device, and the tire's contact point, parametric evaluation rules are generated for each round of the prototype vehicle under the calibration scheme. This allows calibration engineers to adapt the qualitative requirements and quantitative values ​​of each round of the calibration scheme to meet the balance selection under different calibration schemes. It ensures that each round of prototype vehicle calibration has key quantitative records at the test track, assisting in the accurate completion of steering calibration and reducing costs and time. Simultaneously, by obtaining the parametric evaluation rules, it is possible to determine whether the changes in steering system-related parameters are consistent with the evaluator's assessment as expected.

[0052] The functions of each module in the aforementioned mule cart steering adjustment device correspond to the steps in the aforementioned mule cart steering adjustment auxiliary method embodiment, and their functions and implementation processes will not be described in detail here.

[0053] Fourthly, embodiments of this application provide a mule cart steering adjustment device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0054] In this embodiment, the mule cart steering adjustment device may include a processor, a memory, a communication interface, and a communication bus.

[0055] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0056] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the mule cart steering calibration equipment, as well as interfaces used for interconnecting the mule cart steering calibration equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0057] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0058] The processor can be a general-purpose processor, which can call the mule cart steering calibration program stored in memory and execute the mule cart steering calibration assistance method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the mule cart steering calibration program is called can be referred to in the various embodiments of the mule cart steering calibration assistance method of this application, and will not be repeated here.

[0059] Fifthly, embodiments of this application also provide a computer-readable storage medium.

[0060] The present application provides a computer-readable storage medium storing a mule cart steering calibration program, wherein when the mule cart steering calibration program is executed by a processor, it implements the steps of the mule cart steering calibration auxiliary method as described above.

[0061] The method implemented when the mule cart steering adjustment procedure is executed can be referred to in various embodiments of the mule cart steering adjustment auxiliary method of this application, and will not be repeated here.

[0062] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0063] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0064] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0065] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0066] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0067] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0068] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for assisting in the steering adjustment of a mule cart, characterized in that, It includes: During chassis tuning of the prototype vehicle, the instantaneous steering wheel angle parameters, wheel angle parameters, friction circle area after the wheel contacts the steering tuning device, and tire contact force point measurement parameters are obtained according to the tuning scheme that meets the tuning requirements. Based on the steering wheel angle parameters and wheel angle parameters, the steering ratio parameters of the prototype vehicle under this tuning scheme are obtained; Establish a mapping curve between the friction circle area and time, and based on the minimum slope of the mapping curve, obtain the slope parameter of the prototype vehicle for this round under the calibration scheme. Based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's ground contact point, the aerodynamic trail distance set of the vehicle is obtained, and the aerodynamic trail distance parameters of the prototype vehicle that meet the target working conditions under the adjustment scheme are selected. Based on the steering ratio parameters, slope parameters, and vehicle aerodynamic trailing distance parameters, a parametric evaluation rule is generated for the prototype vehicle in this round under this tuning scheme.

2. The mule cart steering adjustment assistance method as described in claim 1, characterized in that, A mapping curve between the friction circle area and time is established, and based on the minimum slope of the mapping curve, the slope parameters of the prototype vehicle at this round are obtained under this calibration scheme, specifically including: Based on the mapping relationship between the friction circle area after the wheel contacts the steering adjustment device and the time at a set moment, a mapping curve between the friction circle area and time is established. Obtain the real-time change curve slope of the mapping curve; Select the minimum curve slope in the real-time changing curve slope, and use the minimum curve slope as the slope parameter of the prototype vehicle in this round under this tuning scheme.

3. The mule cart steering adjustment assistance method as described in claim 1, characterized in that, Based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's contact force point, a set of vehicle aerodynamic trail distances is obtained. Then, the aerodynamic trail distance parameters that meet the target operating conditions under this adjustment scheme for the prototype vehicle are selected, specifically including: Within a set time window, based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's contact point, the difference in the straight-line distance between the center of the friction circle area and the maximum contact point of the tire is calculated. Based on the straight-line distance difference, obtain the set of vehicle aerodynamic trail distances; By comparing the preset target operating condition threshold with the vehicle aerodynamic trailing distance in the vehicle aerodynamic trailing distance set, the vehicle aerodynamic trailing distance parameters of the prototype vehicle in this round that meet the target operating condition under the tuning scheme are obtained.

4. The mule cart steering adjustment assistance method as described in claim 3, characterized in that, Within a set time window, before calculating the difference in straight-line distance between the center of the friction circle area and the point of maximum contact force of the tire, based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's contact force point, the method further includes: Steps for calculating the set center of the friction circle area based on the centroid method.

5. The mule cart steering adjustment assistance method as described in claim 1, characterized in that, Before selecting the vehicle aerodynamic trailing distance parameters that meet the target operating conditions under the tuning scheme for the prototype vehicle, the method further includes: Establish multi-dimensional evaluation rules; The multi-dimensional evaluation rules include multiple evaluation index parameters, including: self-centering torque parameter, steering feedback linearity parameter, and steering transient response parameter.

6. The mule cart steering adjustment auxiliary method as described in claim 1, characterized in that, After generating the parametric evaluation rules for the prototype vehicle in this round under the tuning scheme, the method further includes: Each round of prototype vehicle calibration scheme and corresponding parametric evaluation rules are stored in the calibration database in the form of a structured data table. The data table includes: calibration scheme number, steering ratio parameter, slope parameter, vehicle aerodynamic trailing distance parameter, and calibration timestamp.

7. A mule cart steering adjustment auxiliary device for a mule cart steering adjustment auxiliary method, characterized in that, It includes: Ground-mounted plate (2); A rotating disk (1) at the tire is rotatably connected to a fixed disk (2) at the ground. The surface of the rotating disk (1) at the tire is a wheel contact surface. A mechanical sensor and a surface sensor are provided on the wheel contact surface. An angle sensor is provided on the side wall of the rotating disk (1) at the tire. A steering wheel rotary disc (3) is used to connect to the vehicle steering wheel, and the steering wheel rotary disc (3) is provided with scale markings.

8. The mule cart steering adjustment auxiliary device as described in claim 7, characterized in that: The steering wheel has a rotating disk (3) with an annular groove in the middle. The scale markings are arranged around the surface of the rotating disk (3) at the steering wheel, and the scale markings are movably connected to the marking elements inside.

9. The mule cart steering adjustment auxiliary device as described in claim 7, characterized in that: The inner wall of the fixed plate at the ground is provided with an angle difference data parameter scale; A mounting and positioning platform is provided in the center of the fixed plate at the ground, and a shim is provided on the mounting and positioning platform.

10. A mule cart steering adjustment assistance system, characterized in that, It includes: The first module is used to: obtain the instantaneous steering wheel angle parameters, wheel angle parameters, friction circle area after the wheel contacts the steering adjustment device, and tire ground contact force measurement parameters of the adjustment scheme that meets the adjustment requirements when the prototype vehicle is under chassis adjustment. The second module is used to: obtain the steering ratio parameters of the prototype vehicle under the tuning scheme based on the steering wheel angle parameters and wheel angle parameters; The third module is used to: establish a mapping curve between the area of ​​the friction circle and time, and obtain the slope parameter of the prototype vehicle under the calibration scheme based on the minimum slope of the mapping curve. The fourth module is used to: obtain the set of vehicle aerodynamic trail distances based on the friction circle area after the wheel contacts the steering adjustment device and the measured parameters of the tire's ground contact force point, and filter out the vehicle aerodynamic trail distance parameters that meet the target working conditions under the adjustment scheme for the prototype vehicle. The fifth module is used to generate parameterized evaluation rules for the prototype vehicle at this stage under the given tuning scheme, based on steering ratio parameters, slope parameters, and vehicle aerodynamic trailing distance parameters.

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